libero_seen_pretrain
Collection
Seen-suite (libero_90) pretraining for LIBERO-Goal few-shot: SmolVLA action BC + action-free latent dynamics (IDM/FDM). • 5 items • Updated
Latent dynamics (IDM/FDM) · libero_90 · seed 1000
Action-free visual dynamics pretrain: frozen SmolVLA vision features → IDM → FDM.
Trained on RGB from nvidia/libero_90 only (no action / state / reward labels).
Files:
idm_fdm.pt— model weights + config dictidm_fdm.json— training hyperparameters
Used as frozen teacher for video-latent few-shot SmolVLA fine-tuning
(--video.checkpoint).